CN102369449B

CN102369449B - Hybrid operating machinery

Info

Publication number: CN102369449B
Application number: CN200980158557.5A
Authority: CN
Inventors: 横山和也
Original assignee: Sumitomo Heavy Industries Ltd
Current assignee: Sumitomo Heavy Industries Ltd
Priority date: 2009-04-01
Filing date: 2009-06-26
Publication date: 2014-09-24
Anticipated expiration: 2029-06-26
Also published as: EP2418504B1; WO2010113223A1; EP2418504A4; US20120038327A1; JPWO2010113223A1; EP2418504A1; JP5579166B2; KR20110132427A; US8810210B2; KR101325562B1; CN102369449A

Abstract

A motor generator operates as a power generator and an electric motor. A converter switches the discharge state in which power is supplied from a capacitor to the motor generator and the charging state in which the capacitor is charged by the power generated by the motor generator. The electrical power output from the capacitor during the discharge state and the electrical power input to the capacitor during the charging state are controlled. A capacitor voltmeter measures the voltage between the terminals of the capacitor. A capacitor ammeter measures the charging and discharge currents of the capacitor. The measurement results are input to a control device from the capacitor voltmeter and the capacitor ammeter. The control device controls the converter on the basis of the measurement results.

Description

Hybrid-type working machine

Technical field

The present invention relates to a kind of deterioration state according to capacitor and export the hybrid-type working machine of controlling.

Background technology

In recent years, at construction working machinery, wait in power generating machine and require to have considered the performances such as the fuel consumption-saving of earth environment, low public hazards, low noise.In order to meet these requirements, occurred utilizing motor to replace hydraulic pump or as the auxiliary work mechanisms such as hydraulic actuated excavator of hydraulic pump.In having assembled the work mechanism of motor, the remaining kinetic energy producing from motor is transformed into electric energy and accumulates in capacitor etc.

Capacitor because of long-time repeated charge use or because overcharging, overdischarge or heating etc. are deteriorated gradually.By measuring the internal resistance of capacitor, can judge deterioration state.(TOHKEMY 2007-155586 communique).

If continue common operation, deteriorated quickening, the life-span of shortening capatcitor no matter capacitor is deteriorated.

Summary of the invention

Based on a viewpoint of the present invention, a kind of hybrid-type working machine is provided, it has:

Capacitor;

Dynamotor, as generator and motor action;

Converter, the discharge condition of electric power and the charged state of described capacitor being charged by the electric power being sent by described dynamotor are supplied with in switching from described capacitor to described dynamotor, and from the electric power of this capacitor output and when the charged state, input to the electric power of this capacitor can be controlled at discharge condition time;

Condenser voltage table, measures the voltage between terminals of described capacitor;

Condenser current table, measures the charging and discharging currents of described capacitor; And

Control device, from described condenser voltage table and described condenser current table input measurement result, and according to measurement result, determine the proper range of the input and output electric power of described capacitor, and control described converter in the mode that the input and output electric power of described capacitor does not depart from described proper range.

Invention effect

According to the measurement result of condenser voltage table and condenser current table, can infer the deterioration state of capacitor.The input and output electric power of determining capacitor according to this measurement result is in proper range, therefore can suppression capacitor deteriorated.

accompanying drawing explanation

Fig. 1 is the side view of the hybrid-type working machine of embodiment.

Fig. 2 is the piece figure of the hybrid-type working machine of embodiment.

Fig. 3 is the equivalent circuit diagram of storage circuit that is equipped on the hybrid-type working machine of embodiment.

Fig. 4 means the figure from startup to the flow process stopping of the hybrid-type working machine of embodiment.

Fig. 5 decides the process flow diagram of running status with the internal resistance of the 1st measuring method mensuration capacitor.

Fig. 6 is the equivalent circuit diagram of capacitor.

The chart that charge rate when Fig. 7 means with the internal resistance of the 1st measuring method mensuration capacitor and the time of charging and discharging currents and voltage between terminals change.

Fig. 8 decides the process flow diagram of running status with the internal resistance of the 2nd measuring method mensuration capacitor.

The chart that voltage between terminals when Fig. 9 means with the internal resistance of the 2nd measuring method mensuration capacitor and the time of charging and discharging currents change.

In Figure 10-1, (10A) is the simple piece figure of the hybrid-type working machine of embodiment, (10B) is the FBD (function block diagram) of control device.

In Figure 10-2, (10C) is other examples of the FBD (function block diagram) of control device.

In Figure 11, (11A) is the equivalent circuit diagram of double layer capacitor, is (11B) equivalent circuit diagram simplifying, and (11C) means the chart of the example that time of voltage at the two ends of electrostatic capacitance CL and CH changes.

In Figure 12, (12A) means the chart of the transient characteristic of internal resistance, (12B) mean the actual measured value of voltage between terminals Vm, the chart of the approximate treatment value Vca of the voltage at the theoretical value of the voltage Vc at the two ends of electrostatic capacitance C and the two ends of electrostatic capacitance C, (12C) mean the chart that time of the charging and discharging currents of capacitor changes.

In Figure 13, (13A) means the chart of the transient characteristic of internal resistance, (13B) mean the actual measured value of voltage between terminals Vm, the chart of the approximate treatment value Vca of the voltage at the theoretical value of the voltage Vc at the two ends of electrostatic capacitance C and the two ends of electrostatic capacitance C, (13C) mean the chart that time of the charging and discharging currents of capacitor changes.

In Figure 14, (14A) means the chart of the transient characteristic of internal resistance, (14B) mean the actual measured value of voltage between terminals Vm, the chart of the approximate treatment value Vca of the voltage at the theoretical value of the voltage Vc at the two ends of electrostatic capacitance C and the two ends of electrostatic capacitance C, (14C) mean the chart that time of the charging and discharging currents of capacitor changes.

In Figure 15, (15A) means the transient characteristic of internal resistance and the chart of approximate value, (15B) means the actual measured value of voltage between terminals Vm, the approximate treatment value Vc of the voltage at the theoretical value of the voltage Vc at the two ends of electrostatic capacitance C and the two ends of electrostatic capacitance C ₁chart, (15C) mean the chart that time of the charging and discharging currents of capacitor changes.

In Figure 16, (16A) means the transient characteristic of internal resistance and the chart of approximate value, (16B) means the actual measured value of voltage between terminals Vm, the approximate treatment value Vc of the voltage at the theoretical value of the voltage Vc at the two ends of electrostatic capacitance C and the two ends of electrostatic capacitance C ₂chart, (16C) mean the chart that time of the charging and discharging currents of capacitor changes.

Rotary motor output when Figure 17 means the power distribution method wp of Application Example 6 and rotary motor require the chart of the relation of output.

Hydraulic load output when Figure 18 means the power distribution method wp of Application Example 6 and hydraulic load require the chart of the relation of output.

The chart of (19A) and the capacitor output while (19B) meaning the power distribution method wp of Application Example 6 and the relation of the 2nd capacitor export target value in Figure 19.

The chart of the relation of (20A) and dynamotor output, capacitor output and rotary motor output while (20B) meaning the power distribution method wp of Application Example 6 in Figure 20.

Figure 21 is the process flow diagram that the power distribution of embodiment 7 is processed.

Figure 22 is the process flow diagram of the processing A that processes of the power distribution of embodiment 7.

Figure 23 means the chart of the relation of the output after the requirement when power distribution of Application Example 7 is processed is exported aggregate value and distributed.

Embodiment

Below, with reference to accompanying drawing, embodiment is described.

Embodiment 1

The side view that represents the hybrid-type working machine of embodiment 1 in Fig. 1.At lower traveling body (matrix) 1, via slew gear 2, be equipped with top solid of revolution 3.Slew gear 2 comprises motor (motor), makes top solid of revolution 3 turn clockwise or be rotated counterclockwise.At top solid of revolution 3, swing arm 4 is installed.Swing arm 4 is by being swung on above-below direction by hydraulically powered swing arm cylinder 7 relative top solid of revolution 3.Front end at swing arm 4 is provided with dipper 5.Dipper 5 is by being swung on fore-and-aft direction by the relative swing arm 4 of hydraulically powered dipper cylinder 8.Front end at dipper 5 is provided with scraper bowl 6.Scraper bowl 6 is by being swung on above-below direction by the relative dipper 5 of hydraulically powered scraper bowl cylinder 9.At top solid of revolution 3, be also equipped with the pilothouse 10 that holds driver.

The piece figure that represents hybrid-type working machine in Fig. 2.In Fig. 2, with doublet, represent mechanical dynamic system, with heavy line, represent high-pressure and hydraulic pipeline, by fine line, represent electric system, dot first rodding.

The driving shaft of engine 11 is linked to the input shaft of speed reduction unit 13.Engine 11 uses the engine that produces driving force by the fuel beyond electricity, such as internal combustion engines such as diesel motors.Engine 11 is in service driven all the time work mechanism.

The driving shaft of dynamotor 12 is linked to another input shaft of speed reduction unit 13.Dynamotor 12 can carry out electronic (assisting) operation and generator operation both sides' run action.At dynamotor 12, use and for example at internal rotor, imbed built-in type permanent-magnet (IMP) motor of magnet.

Speed reduction unit 13 has 2 input shafts and 1 output shaft.At this output shaft, link the driving shaft that has main pump 14.

Put on the load of engine 11 when larger, dynamotor 12 is assisted operation, and the driving force of dynamotor 12 is passed to main pump 14 via speed reduction unit 13.Thus, alleviate the load that puts on engine 11.On the other hand, hour, the driving force of engine 11 is passed to dynamotor 12 via speed reduction unit 13 in the load that puts on engine 11, and dynamotor 12 is by generator operation thus.The auxiliary operation of dynamotor 12 and the switching of generator operation are undertaken by being connected in the inverter (inverter) 18 of dynamotor 12.Inverter 18 is controlled by control device 30.

Control device 30 comprises central processing unit (CPU) 30A and internal storage 30B.CPU30A carries out the driving control program that is stored in internal storage 30B.Control device 30 deterioration state by showing various devices in display device 35 etc. arouses driver's attention.

Main pump 14 is supplied with hydraulic pressure via high-pressure and hydraulic pipeline 16 to operation valve 17.Operation valve 17 by the instruction from driver to oil motor 1A, 1B, swing arm cylinder 7, dipper cylinder 8 and 9 minutes equipped hydraulics of scraper bowl cylinder.Oil motor 1A and 1B drive respectively 2 of the left and right crawler belt possessing in the lower traveling body 1 shown in Fig. 1.

The input and output terminal of the electric system of dynamotor 12 is connected in storage circuit 90 via inverter 18.At storage circuit 90, via another inverter 20, be also connected with rotary motor (load motor) 21.Storage circuit 90 and inverter 20 are controlled by control device 30.

The auxiliary run duration of dynamotor 12, required electric power is supplied to dynamotor 12 from storage circuit 90, dynamotor 12 output mechanical powers.During dynamotor 12 generator operations, from engine 11, supply with required mechanical output, and electromotive power output (electric power).The electric power sending by dynamotor 12 is supplied to storage circuit 90.Inverter 18 accepts the instruction of self-control device 30, carries out the operation of dynamotor 12 and controls, so that output is by the mechanical output of instruction or electric power.

Rotary motor 21 can exchange driving by the pulse amplitude modulation from inverter 20 (PWM) control signal, and carries out the power action (power run) of output mechanical power and the regeneration action both sides' of electromotive power output operation.Inverter 20 accepts the instruction of self-control device 30, carries out the operation of rotary motor 21 and controls, so that output is by the mechanical output of instruction.At rotary motor 21, for example use IMP motor.IMP motor produces larger induction electromotive force when regeneration.

In the power action of rotary motor 21, the revolving force of rotary motor 21 is passed to the slew gear 2 shown in Fig. 1 via speed reduction unit 24.At this moment, speed reduction unit 24 reduces rotational speed.Thus, the revolving force producing at rotary motor 21 increases, and is passed to slew gear 2.And when regeneration operation, rotatablely moving of top solid of revolution 3 is passed to rotary motor 21 via speed reduction unit 24, rotary motor 21 produces regenerated electric power thus.At this moment, contrary while moving with power, speed reduction unit 24 is accelerated rotational speed.Thus, can improve the rotating speed of rotary motor 21.

The position of the sense of rotation of the turning axle of resolver (resolver) 22 detection rotary motors 21.Testing result inputs to control device 30.By detecting before the operation of rotary motor 21 position with the sense of rotation of postrun turning axle, derive angle of revolution and gyratory directions.

Mechanical brake 23 is linked to the turning axle of rotary motor 21, and produces mechanicalness damping force.The on-position of mechanical brake 23 and disarm state accept the control of self-control device 30, and switch by electro permanent magnetic switch.

Pioneer pump 15 produces the required first pilot of hydraulic operating system.The first pilot producing is supplied to operating means 26 via first rodding 25.Operating means 26 comprises operating rod and pedal, by driver's operation.Operating means 26 is transformed into side hydraulic pressure according to driver's operation 2 times by 1 the side hydraulic pressure of supplying with from first rodding 25.2 times side hydraulic pressure is passed to operation valve 17 via fluid pressure line 27, and is passed to pressure transducer 29 via another fluid pressure line 28.

Testing result by pressure transducer 29 detected pressure is input to control device 30.Thus, control device 30 can detect the operating conditions of lower traveling body 1, slew gear 2, swing arm 4, dipper 5 and scraper bowl 6.Especially in the hybrid-type working machine of embodiment 1, rotary motor 21 drives slew gear 2, therefore expects pinpoint accuracy and detects for controlling the operational ton of the operating rod of slew gear 2.Control device 30 can via pressure transducer 29 pinpoint accuracy detect the operational ton of this operating rod.

In addition, control device 30 can detect following state, be that lower traveling body 1, slew gear 2, swing arm 4, dipper 5 and scraper bowl 6 all do not move, and to the supply of the electric power of storage circuit 90 and the state (non-operating state) all not carrying out from the mandatory taking-up of electric power of storage circuit 90.

The equivalent circuit diagram that represents storage circuit 90 in Fig. 3.Storage circuit 90 comprises capacitor 19, converter 100 and DC bus line 110.1 couple of sub-103A of power connector end, 103B at converter 100 are connected with capacitor 19, at 1 couple of lead-out terminal 104A, 104B, are connected with DC bus line 110.One side's the sub-103B of power connector end and a side lead-out terminal 104B ground connection.

DC bus line 110 is connected to dynamotor 12 and rotary motor 21 via inverter 18,20.DC bus line 110 comprises the ground wire that is connected in lead-out terminal 104B and the power lead that is connected in the opposing party's lead-out terminal 104A.Between ground wire and power lead, be inserted with smoothing capacitor 105.The voltage that results from DC bus line 110 is determined with voltage table 111 by DC bus, and measurement result inputs to control device 30.

Boost and be connected between lead-out terminal 104A and 104B with the series circuit that the emitter of IGBT102B is connected with the collector of insulated gate bipolar transistor (IGBT) 102A and step-down.Boost with the grounded emitter of IGBT102A, step-down is connected on high-tension side lead-out terminal 104A with the collector of IGBT102B.Boost and with the contact that is connected of IGBT102B, via reactor 101, be connected in the sub-103A of on high-tension side power connector end with step-down with IGBT102A.

Boosting with IGBT102A and step-down IGBT102B, respectively with the direction that becomes forward towards the direction of collector from emitter be connected in parallel diode 102a, 102b.

Be connected in the voltage between terminals of the voltage table 106 mensuration capacitors 19 between the sub-103A of power connector end and 103B.Series connection is inserted in the charging and discharging currents of the reometer 107 mensuration capacitors 19 of reactor 101.The measurement result of voltage and electric current is input into control device 30.

Control device 30 is to boosting with additional pulse amplitude modulation (PWM) voltage for control of the gate electrode of IGBT102B for IGBT102A and step-down.And, at the internal storage 30B of control device 30, guarantee to have running status storage part 31.In the current running status of running status storage part 31 storage.As described in the back, running status is any in " running status conventionally " and " export-restriction state " these 2 states.

Below, boost action (discharging action) is described.To the additional PWM voltage of gate electrode boosting with IGBT102A.When boosting with IGBT102A cut-off (off), in reactor 101, produce the induction electromotive force of the direction of the collector current flowing of using IGBT102A towards boosting from the sub-103A of on high-tension side power connector end.This electromotive force is added on DC bus line 110 outward via diode 102b.Thus, DC bus line 110 is boosted.

Then, step-down action (charging action) is described.The additional PWM voltage of gate electrode to step-down with IGBT102B.When step-down ends with IGBT102B, in reactor 101, produce from step-down and use the emitter of IGBT102B towards the induction electromotive force of the direction of the sub-103A current flowing of on high-tension side power connector end.By this induction electromotive force capacitor 19, be recharged.In addition, the electric current of the direction that capacitor 19 is discharged is just made as, the electric current of the direction of charging is made as negative.

In Fig. 4, represent embodiment 1 work mechanism from starting to a series of processing stopping.If the starting switch of work mechanism is made as to ON by worker, start work mechanism,, in step SA1, carry out the action of storage circuit 90, dynamotor 12 etc. and prepare.Particularly, engine 11 is driven, and dynamotor 12 starts rotation.Thus, dynamotor 12 starts generating, and the smmothing capacitor 105 of DC bus 110 is recharged.

After if action prepares to finish,, in step SA2, the internal resistance that control device 30 is measured capacitor 19 with the 1st measuring method decides running status.About the 1st measuring method, with reference to figure 5, describe in the back.Afterwards, in step SA3, by input action instruction, the mechanical action of starting working.By driver, operating means 26 (Fig. 2) is operated and carries out action command.

While carrying out the action of work mechanism, in step SA4, the internal resistance that control device 30 is measured capacitor with the 2nd measuring method decides running status.About the 2nd measuring method, with reference to figure 8, describe in the back.

In step SA5, control device 30 judges that work mechanism is whether in idle running, and when being judged to be in idle running, in step SA6, the internal resistance of measuring capacitor with the 1st measuring method decides running status.Afterwards, in step SA7, control device 30 determines whether has inputted the instruction that work mechanism stops.The instruction that work mechanism stops is operated and carries out operating means 26 (Fig. 2) by operator.In step SA5, when being judged to be not in idle running, not carrying out the processing of step SA6, and in step SA7, determine whether and inputted the instruction that work mechanism stops.

When instruction that input service machinery stops, control device 30 stops work mechanism.When do not have input service machinery to stop instruction time, get back to step SA4, control device 30 carries out the mensuration of internal resistance and the decision of running status of the capacitor based on the 2nd measuring method.

The process flow diagram that represents the 1st measuring method in Fig. 5.First, in step SB1, control device 30 starts the mensuration of the internal resistance of capacitor 19.About assay method, with reference to figure 6 and Fig. 7, describe in the back.

In step SB2, before measurement finishes, control device 30 determines whether the input of action command.In measurement, when having the input of action command, in step SB3, interrupt measuring.Afterwards, in step SB4, control device 30 adopts the measured value obtaining in mensuration is before processed as decision content.Afterwards, in step SB5, control device 30 judges whether to carry out export-restriction according to decision content.

In step SB2, before measurement finishes, during the input of ignore instruction, in step SB6, control device 30 adopts measured values as decision content and stores.Afterwards, in step SB5, control device 30 judges whether to carry out export-restriction according to decision content.

In step SB5, for example value of comparing to determine and reference value.When decision content is reference value when following, be judged to be and do not need export-restriction.When decision content surpasses reference value, think that capacitor 19 is deteriorated.At this moment, be judged as and need export-restriction.

Be judged to be while needing export-restriction, in step SB7, control device 30 is set " export-restriction state " at running status storage part 31 (Fig. 3).When being judged to be while not needing export-restriction, in step SB8, control device 30 is set " output state conventionally " at running status storage part 31.About common running status and export-restriction state, with reference to figure 10A and Figure 10 B, at length describe in the back.

Below, the assay method of internal resistance is described.

The equivalent circuit diagram that represents capacitor 19 in Fig. 6.Capacitor 19 can be represented by the electrostatic capacitance C being mutually connected in series and internal resistance R.The voltage between terminals Vm of capacitor 19 represents with the voltage drop Vr sum based on internal resistance R by resulting from the voltage Vc of electrostatic capacitance C.If the charging and discharging currents of capacitor 19 is made as to I, due to the direction of discharge current is just made as, so Vr=-R * I sets up.

Voltage between terminals Vm condenser voltage table 106 is as shown in Figure 3 measured, and electric current I is measured by condenser current table 107.

In Fig. 7, represent charge rate SOC, the electric current I of electrostatic capacitance C, the example that the time of voltage Vm changes.The moment 0～t ₁be equivalent to during this time between the action preparatory stage of example step SA1 as shown in Figure 4, electric current I is for negative.That is, carry out the charging of capacitor 19.Therefore, charge rate SOC rises gradually.Moment t ₁～t ₄be equivalent to during this time between the internal resistance test period of example step SA2 as shown in Figure 4.

Moment t ₁～t ₂electric current I is roughly 0 during this time.That is, at capacitor 19, charge, also for to carry out from the electric discharge of capacitor 19.At this moment, work mechanism is non-action status, and engine 11 is for maintaining the idling conditions of constant rotational speed.And, the voltage between terminals Vm of capacitor 19 and charge rate SOC constant.The moment that the action of the storage circuit of the step SA1 shown in Fig. 4 and motor etc. prepares to have finished is equivalent to t constantly ₁～t ₂during this time.And, in step SA5, be judged as in idle running during be also equivalent to constantly t ₁～t ₂during this time.

At moment t ₂, so that the rotating speed of engine 11 is maintained in to constant state, dynamotor 12 is made as to generating state, and converter 100 is made as to charged state.Measure t constantly ₂or electric current I and voltage Vm after it.Will moment t ₂the measurement result of electric current be made as I ₁, the measurement result of voltage is made as to V ₁.

Standby is to the charging having stable behavior of converter 100.When electric current reaches the value of predetermining, be judged to be current stabilization.At this moment the moment is made as to t ₃.Measure t constantly ₃or electric current I and voltage Vm after it.The measurement result of electric current is made as to I ₂, the measurement result of voltage is made as to V ₂.

Moment t ₃～t ₄during this time, charging current increases monotonously, and charge rate SOC rises.Moment t ₂to t ₃time and t constantly ₃to t ₄time be in fact respectively tens of millisecond and tens of～hundreds of millisecond.

If will moment t ₂to t ₃the recruitment of accumulating the quantity of electric charge of capacitor 19 be made as Δ Q, internal resistance R shows with following formula table.

[several 1]

R = - \frac{V_{2} - V_{1}}{I_{2} - I_{1}} + \frac{ΔQ}{C (I_{2} - I_{1})}

Moment t ₂to t ₃stand-by time very short, electrostatic capacitance C is very large, therefore the 2nd, the right of above-mentioned formula can roughly be similar to 0.Therefore, can calculate internal resistance R according to the measured value of voltage and electric current.In addition, can adopt t constantly ₁～t ₂electric current during this time and the mean value of voltage are as electric current I ₁and voltage V ₁, also can adopt t constantly ₃～t ₄electric current during this time and the mean value of voltage are as electric current I ₂and voltage V ₂.

The process flow diagram that represents the 2nd measuring method in Fig. 8.In the 2nd measuring method, the step SB2～SB4 of the 1st measuring method illustrated in fig. 5 is omitted.In step SB1, carry out after the mensuration of internal resistance, in step SB6, adopt measured value as decision content.Afterwards, in step SB5, according to decision content, judge whether to carry out export-restriction.Step SB7 and SB8 are identical with the situation of the 1st measuring method.

Then, the assay method with reference to the internal resistance in 9 couples of step SB1 of figure describes.The upper figure of Fig. 9 and figure below represent respectively the example that the voltage between terminals Vm of capacitor 19 and the time of charging and discharging currents I change.

The moment 0～t ₁during this time, discharge current I reduces gradually, and voltage between terminals Vm also declines gradually.At moment t ₁to t ₂between from discharge condition, switch to charged state.Moment t ₂after, charging current increases (electric current I is for negative, and its absolute value increases gradually) gradually.Will moment t ₁discharge current be made as I ₁, voltage between terminals is made as to Vm ₁.Will moment t ₂charging current be made as I ₂(< 0), is made as Vm by voltage between terminals ₂.And, in equivalent electrical circuit illustrated in fig. 6, if will moment t ₁and t ₂condenser voltage Vc be made as respectively Vc ₁and Vc ₂, following formula is set up.

[several 2]

Vm ₁＝Vc ₁-RI ₁

Vm ₂＝Vc ₁-RI ₂

Moment t ₁to t ₂time be for example several milliseconds of left and right.And electrostatic capacitance C is for example 10F left and right, very large.Therefore the voltage Vc that, results from electrostatic capacitance C is from moment t ₁to t ₂between change hardly.As an example, Vc ₁with the difference of Vc2 0.01%～0.1% left and right that is Vc1.Therefore, can be similar to Vc ₁=Vc ₂.Like this, from above-mentioned formula, obtain following formula.

[several 3]

R = - \frac{{Vm}_{2} - {Vm}_{1}}{I_{2} - I_{1}}

By measuring t constantly ₁voltage between terminals Vm ₁and charging and discharging currents I ₁with moment t ₂voltage between terminals Vm ₂and charging and discharging currents I ₂, internal resistance R that can calculable capacitor 19.Voltage between terminals Vm and charging and discharging currents I can measure by the condenser voltage table 106 shown in Fig. 3 and condenser current table 107 respectively.

In addition, the mensuration of internal resistance is not limited to while switching to charged state from discharge condition period.Also internal resistance can when switching to discharge condition, charged state measured.In addition, be not limited to the switching period of charged state and discharge condition, also can be as Vc ₁=Vc ₂such short time of approximate establishment between measure.In addition, for the error of calculation of internal resistance is reduced, preferably the amplitude of variation amplitude of variation less and electric current I of the voltage Vc of electrostatic capacitance C larger during measure.When switching charged state and discharge condition, can expect larger curent change, so measuring error reduces.

In Fig. 4, jointly use the mensuration of the mensuration of the internal resistance based on the 1st measuring method and the internal resistance based on the 2nd measuring method, but also can only adopt either party's measuring method.While only adopting a side measuring method, preferably adopt the 1st measuring method of measuring during current stabilization.

Below, with reference to figure 10A and Figure 10 B, common running status and export-restriction state are described.

The flow process that represents the simple piece figure of hybrid-type working machine of embodiment 1 and mechanical output, electric power in Figure 10 A.Output Pgo from engine 11 is supplied to main pump 14 and dynamotor 12.When dynamotor 12 auxiliary operation, from dynamotor 12 to main pump 14, supply with dynamotor output (mechanical output) Pao.When dynamotor 12 generator operation, dynamotor output (electric power)-Pao that generating obtains is input to storage circuit 90.Wherein, the output during by dynamotor 12 auxiliary operation is just defined as, and output during generator operation is defined as negative.

Capacitor output Pbo from storage circuit 90 is supplied to dynamotor 12 and rotary motor 21.When power running status, rotary motor 21 output rotary motor output (mechanical output) Peo.When regeneration running status, output rotary motor output (electric power)-Peo, and be supplied to storage circuit 90.Wherein, the output during by power running status is just defined as, and output during regeneration running status is defined as negative.

The FBD (function block diagram) that represents control device 30 in Figure 10 B.Hydraulic load requires output Phr, rotary motor to require output Per, engine speed Nact and condenser voltage Vm to be input to control device 30.

It is that oil motor 1A, the 1B shown in Fig. 2, swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9 etc. are by the total of mechanical output required in hydraulically powered hydraulic mechanism that hydraulic load requires output Phr.For example, hydraulic load requires output Phr to calculate according to the operational ton of the manipulation bar of operator's operation.

Rotary motor requires output Per to be equivalent to the required electric power of the rotary motor shown in Fig. 2.For example, rotary motor requires output Per to calculate according to the operational ton of the manipulation bar of operator's operation.

Engine speed Nact is equivalent to the actual speed of the engine 11 shown in Fig. 2.When work mechanism moves, engine 11 is driven all the time, and its rotational speed N act is detected.

Condenser voltage Vm is equivalent to the voltage between terminals of the capacitor 19 shown in Fig. 3, and is measured by condenser voltage table 106.

Engine speed Nact is input to engine output area and determines piece 32.Engine output area determines to store for obtain mapping table or the map table of engine output higher limit and engine bottoming value according to engine speed in piece 32.Engine output area determines piece 32 according to engine speed Nact computing engines output higher limit Pgou and the engine bottoming value Pgol having inputted and is imparted to power distribution piece 35.

Condenser voltage Vm is input to capacitor output and determines piece 33.Capacitor output determines that piece 33 comprises capacitor output area and determines that piece 33A, capacitor export target value determine piece 33B and charge rate computing block 33C.Charge rate computing block 33C calculates charge rate SOC according to the condenser voltage Vm having inputted.The charge rate SOC having calculated is imparted to capacitor output area and determines that piece 33A and capacitor export target value determine piece 33B.

Wherein, charge rate SOC for example can be defined as Vm ²/ V ₀ ².V ₀the rated voltage (by the rapid charge maximum voltage that charging battery is recharged that eases up) that represents capacitor 19.

Capacitor output area determines to store for export mapping table or the map table of higher limit and capacitor bottoming value according to charge rate SOC calculable capacitor in piece 33A.Capacitor export target value determines to store in piece 33B for according to mapping table or the map table of charge rate SOC calculable capacitor export target value.Capacitor output area determines that piece 33A obtains the 1st capacitor output higher limit Pbou0 and the 1st capacitor bottoming value Pbol0 and is imparted to correcting block 34 according to charge rate SOC.Capacitor export target value determines that piece 33B obtains the 1st capacitor export target value Pbot0 and is imparted to correcting block 34 according to the charge rate SOC having inputted.

Electric current and voltage measured value Dva is input to the deteriorated information decision block 36 of capacitor.For example, as shown in the step SA2 of Fig. 4, SA4, SA6, from the internal resistance of electric current and voltage measured value Dva calculable capacitor 19.The processing of step SB5 shown in deteriorated information decision block 36 execution graphs 5 of capacitor and Fig. 8.Determined running status, " output state conventionally " or " export-restriction state " are stored in running status storage part 31.

Correcting block 34 comprises output area correcting block 34A and export target value correcting block 34B.The 1st capacitor output higher limit Pbou0 and the 1st capacitor bottoming value Pbol0 are imparted to output area correcting block 34A.Output area correcting block 34A proofreaies and correct the 1st capacitor output higher limit Pbou0 and the 1st capacitor bottoming value Pbol0 according to the running status of current time, generates thus the 2nd capacitor output higher limit Pbou1 and the 2nd capacitor bottoming value Pbol1.The 2nd capacitor output higher limit Pbou1 and the 2nd capacitor bottoming value Pbol1 are imparted to export target value correcting block 34B.

The 1st capacitor output higher limit Pbou0 is equivalent to the higher limit of discharged power.The 1st capacitor bottoming value Pbol0 is for negative, and its absolute value is equivalent to the higher limit of charging power.According to the 2nd capacitor output higher limit Pbou1 and the 2nd capacitor bottoming value Pbol1, define the proper range of the input and output electric power of capacitor.

For example, when the running status of current time is common running status, Pbou1=Pbou0, Pbol1=Pbol0.That is, output is not limited.When the running status of current time is export-restriction state, Pbou1 < Pbou0, Pbol1 > Pbol0.Inequality Pbou1 < Pbou0 refers to the higher limit of the discharged power of capacitor is made as to the higher limit while being less than common running status.Inequality Pbol1 > Pbol0 refers to the higher limit of the charging power of capacitor is made as to the higher limit while being less than common running status.

Export target value correcting block 34B proofreaies and correct the 1st capacitor export target value Pbot0 according to the 2nd capacitor output higher limit Pbou1 and the 2nd capacitor bottoming value Pbol1, generates the 2nd capacitor export target value Pbot1.For example, when the 1st capacitor export target value Pbot0 departs from the scope being defined by the 2nd capacitor output higher limit Pbou1 and the 2nd capacitor bottoming value Pbol1, the mode falling in the scope being defined by the 2nd capacitor output higher limit Pbou1 and the 2nd capacitor bottoming value Pbol1 with the 2nd capacitor export target value Pbot1 generates the 2nd capacitor export target value Pbot1.The 2nd capacitor output higher limit Pbou1, the 2nd capacitor bottoming value Pbol1 and the 2nd capacitor export target value Pbot1 are input to power distribution piece 35.

Power distribution piece 35 requires output Phr, rotary motor to require output Per, engine output higher limit Pgou, engine bottoming value Pgol, the 2nd capacitor output higher limit Pbou1, the 2nd capacitor bottoming value Pbol1 and the 2nd capacitor export target value Pbot1 to determine actual hydraulic load output Pho, dynamotor output Pao and rotary motor output Peo according to hydraulic load.At this moment, with engine output Pgo, the mode in the scope in engine output higher limit Pgou and engine bottoming value Pgol and in the scope of capacitor output Pbo in the 2nd capacitor output higher limit Pbou1 and the 2nd capacitor bottoming value Pbol1 determines each output.

For example, when common state, the mode falling in the scope being defined by the 1st capacitor output higher limit Pbou0 before proofreading and correct and the 1st capacitor bottoming value Pbol0 with the input and output electric power of capacitor is controlled converter.When export-restriction state, the mode falling in the scope being defined by the 2nd capacitor output higher limit Pbou1 after proofreading and correct and the 2nd capacitor bottoming value Pbol1 with the input and output electric power of capacitor is controlled converter.

Control device 30 carrys out the converter 100 shown in the engine 11 shown in control chart 2, inverter 18,20 and Fig. 3 according to these determined outputs.

When running status is " export-restriction state ", when capacitor output higher limit is less than common running status, and the absolute value of capacitor bottoming value is while being less than common running status.Therefore, when export-restriction state, the maximal value of the charging and discharging currents when maximal value of the charging and discharging currents of capacitor 19 is less than common running status.Thus, can suppression capacitor 19 deteriorated.

Other examples that represent the FBD (function block diagram) of control device 30 in Figure 10 C.Below, be conceived to the dissimilarity with the example of Figure 10 B.Correcting block 34 is according to the 1st capacitor output higher limit Pbou0, the 1st capacitor bottoming value Pbol0, the 1st capacitor export target value Pbot0 and current running status, and it is the 2nd capacitor export target value Pbot1 that the 1st capacitor export target value Pbot0 is proofreaied and correct.For example, when the running status of current time is " export-restriction state ", the 2nd capacitor export target value Pbot1 after proofreading and correct is made as and is less than the 1st capacitor export target value Pbot0.When the running status of current time is " running status conventionally ", do not proofread and correct.That is, be made as Pbot1=Pbot0.

Power distributing section 35 requires output Phr, rotary motor to require output Per, engine output higher limit Pgou, engine bottoming value Pgol and the 2nd capacitor export target value Pbot1 to determine actual hydraulic load output Pho, dynamotor output Pao and rotary motor output Peo according to hydraulic load.The mode of the absolute value of the capacitor output Pbo when capacitor when absolute value of the capacitor output Pbo during at this moment, with export-restriction state equals common running status is exported the absolute value of Pbo or is less than common running status is controlled converter 100.

Wherein, as the measuring method of internal resistance, show the 2nd measuring method shown in the 1st measuring method shown in Fig. 5 and Fig. 8, but also can measure internal resistance by additive method.

By measure internal resistance in work mechanism action, can utilize the up-to-date measured value of internal resistance to calculate charge rate SOC.At this moment, charge rate SOC for example can be defined as Vc ²/ V ₀ ².As shown in Figure 6, Vc represents the outer voltage that is added on electrostatic capacitance C, V ₀the rated voltage that represents capacitor 19.

Can be according to the voltage between terminals Vm of capacitor 19, charging and discharging currents I and internal resistance R calculating voltage Vc.Condenser voltage table 106 is as shown in Figure 3 measured voltage between terminals Vm, by condenser current table 107, measures charging and discharging currents I.Internal resistance R is by being made as and being similar to 0 and calculating the 2nd of the right of mathematical formulae 1.

By utilizing the up-to-date measured value of internal resistance R to calculate charge rate SOC, can decide capacitor output higher limit Pbou0, capacitor bottoming value Pbol0 and capacitor export target value Pbot0 according to the last state of capacitor 19 thus.The deterioration state that reflects capacitor 19 in the up-to-date measured value of internal resistance R.Therefore the deterioration state that, also reflects capacitor 19 in power distribution is controlled.Thus, can improve the stability of the control of work mechanism.

Embodiment 2

Below, with reference to figure 11A～Figure 11 C, embodiment 2 is described.In above-described embodiment 1, according to the internal resistance of capacitor 19, whether carry out the judgement (the step SB5 of Fig. 5 and Fig. 8) of the export-restriction of capacitor.In embodiment 2, according to the electrostatic capacitance of capacitor, determine whether and carry out export-restriction.Below, the assay method of the electrostatic capacitance of capacitor 19 is described.

Equivalent circuit diagram while representing capacitor 19 to use electrostatic double layer type capacitor in Figure 11 A.In electrostatic double layer type capacitor, active layer plays a role with the electrode of positive ion (kation) as supplying negative ion (negative ion).In this active layer, there are a plurality of holes.Result from active layer surperficial electrostatic capacitance with result from internal resistance in the electrostatic capacitance at hole depth place and differ widely.Therefore, capacitor 19 can be as the different electrostatic capacitance C of n of internal resistance ₁～C _nbe connected in parallel and represent.Electrostatic capacitance C ₁～C _nmiddle series connection is respectively inserted with internal resistance R ₁～R _n.

The equivalent circuit diagram that represents the further simplification of capacitor 19 in Figure 11 B.In the equivalent circuit diagram of simplifying, by the relatively little electrostatic capacitance C of internal resistance _lthe electrostatic capacitance C relatively large with internal resistance _hrepresent.1 pair of electrode interleaves into static capacitor C _lwith internal resistance R _ldirect circuit.In addition, electrostatic capacitance C _hwith internal resistance R _hdirect circuit and electrostatic capacitance C _lbe connected in parallel.

To add to electrostatic capacitance C outward _lvoltage be made as V _l, will add to electrostatic capacitance C outward _hvoltage be made as V _h.By electrostatic capacitance C _lwith C _hand internal resistance R _hthe time constant ratio of the closed loop circuit forming is by electrostatic capacitance C _lwith internal resistance R _lthe time constant of the series circuit forming is much larger.While therefore, carrying out the rapid charge below the several seconds and during rapid discharge, only there is electrostatic capacitance C _ldischarged and recharged.Electrostatic capacitance C while carrying out the slow charging about a few hours and while slowly discharging _halso discharged and recharged.

In Figure 11 C, represent voltage V _lwith V _hthe example that changes of time.Solid line in figure represents voltage V _l, dotted line represents voltage V _h.From the moment 0 to t ₁carry out during this time run action.That is, carry out charging and the electric discharge of capacitor 19.Capacitor 19 be discharged during voltage V _ldecline, voltage V during being recharged _lrise.Voltage V _lhigher than voltage V _hduring carry out to electrostatic capacitance C _hcharging, so voltage V _hrise, voltage V _llower than voltage V _hduring carry out from electrostatic capacitance C _helectric discharge, so voltage V _hdecline.But, due to electrostatic capacitance C _hthe time constant discharging and recharging larger, so voltage V _hvariation and voltage V _lchange to compare relatively and relax.

At moment t ₁, operation is stopped.That is, do not carry out discharging and recharging to capacitor 19.Therefore, electric charge is at electrostatic capacitance C _lwith C _hbetween move, until voltage V _lwith voltage V _hequate.At moment t ₂, voltage V _lwith voltage V _hequate.Voltage is now made as to V _a.

At moment t ₃, start the charging of capacitor 19.This charging is made as generating state by control inverter 18 by dynamotor 12 and controls converter 100 and dynamotor 12 is made as to charged state and carry out.By capacitor 19, be recharged voltage V _lwith V _hrise.Capacitor C _hcharging slowly carry out, so voltage V _hrising slow.At moment t ₄, charging action is stopped.To just make charging action stop voltage V afterwards _lvalue be made as V _b.

Moment t ₄after, from electrostatic capacitance C _lto electrostatic capacitance C _hthe movement of electric charge produce lentamente, until voltage V _hwith V _lequate.From moment t ₃to t ₄very in short-term during this time, can almost ignore from electrostatic capacitance C _lto electrostatic capacitance C _hthe movement of electric charge.Under this condition, electrostatic capacitance C _lcan obtain with following formula.

[several 4]

C_{L} = \frac{1}{V_{B} - V_{A}} {&Integral;}_{t_{3}}^{t_{4}} {- I (t)} dt

Wherein, electric current I is the electric current that flows to capacitor 19.At the additional minus sign of I (t), be due to the direction of discharge current is just made as.Electric current I (t) can be measured by condenser current table 107.For example, with extremely short time step, measure electric current, and by measurement result being carried out to the value that numerical integration is obtained the integration item of above-mentioned formula.

Moment t ₃charging action start to be about to before and t constantly ₄charging action just stopped after, the charging and discharging currents of capacitor 19 is 0, does not therefore occur because of internal resistance R _lthe voltage drop causing.Therefore, voltage V _aand V _brespectively with at moment t ₃and t ₄the voltage of being measured by condenser voltage table 106 equates.Can be according to the result of numerical integration and at moment t ₃and t ₄the tested voltage V making respectively _aand V _bcalculate electrostatic capacitance C _l.

In embodiment 1, in the step SB1 shown in Fig. 8, measure the internal resistance of capacitor 19, but in embodiment 2, according to above-mentioned mathematical formulae 4, calculate electrostatic capacitance C _l.In step SB5, according to electrostatic capacitance C _ljudge whether to carry out export-restriction.Determine that the processing of whether carrying out after export-restriction is identical with the processing of embodiment 1.

In addition, also can, according to internal resistance and electrostatic capacitance both sides, judge whether to carry out export-restriction.

Embodiment 3

Below, with reference to figure 12A～Figure 14 C, embodiment 3 is described.Outside the processing of charge rate computing block 33C shown in Figure 10 B of embodiment 3 is different with the processing of above-described embodiment 1, other structures are identical with the structure of embodiment 1.

The transient characteristic of internal resistance R when the charging and discharging currents that represents capacitor 19 in Figure 12 A flows since 0 state to discharge current.In Figure 12 C, represent the variation of the charging and discharging currents of capacitor 19.At moment t ₁discharge current starts to flow.In fact discharge current reduces with constant time constant, but that internal resistance R gets back to the transition period of stable state is short a lot of compared with the time constant of discharge current.Therefore,, when considering the transient characteristic of internal resistance R, can think that discharge current is constant.Constant discharge current is made as I ₁.

The internal resistance of the stable state of capacitor 19 is made as to Ri ₁.This internal resistance Ri ₁can be by calculating with the method for embodiment 1.If at moment t ₁, discharge current starts to flow to capacitor 19, and internal resistance R drops to Ri ₂, afterwards, gradually to the internal resistance Ri of stable state ₁rise.

Moment t ₁later internal resistance R can show with following formula table.

[several 5]

R = {Ri}_{2} + ({Ri}_{1} - {Ri}_{2}) (1 - \exp (- \frac{t - t_{1}}{τ}))

If t becomes infinitely great constantly, internal resistance R moves closer to the internal resistance Ri of stable state ₁.

If want the charge rate SOC of calculable capacitor 19, must calculate the outer voltage Vc that is added on the electrostatic capacitance C shown in Fig. 6.But the voltage being gone out by condenser voltage table 106 practical measurement is voltage between terminals Vm.Relational expression below between the lower voltage Vr of internal resistance R, the voltage Vc that is added on electrostatic capacitance C outward and voltage between terminals Vm is set up.

[several 6]

Vm＝Vr+Vc

Vr＝-R×I

At the additional minus sign in the right that represents the mathematical formulae of voltage drop Vr, be because the direction that flows through the discharge current of capacitor 19 is just defined as.In the parameter of mathematical formulae 6, can actual measurement voltage between terminals Vm and electric current I.

In Figure 12 B, represent voltage between terminals Vm and be added on the time-histories of the voltage Vc of electrostatic capacitance C outward.To moment t ₁during this time, the electric current that flows through capacitor 19 is 0, so voltage Vc equates with voltage between terminals Vm.

At moment t ₁, electric current I ₁start to flow.Suppose electric current I ₁constant, so the quantity of electric charge Q linearity of accumulating of electrostatic capacitance C reduces.Therefore, also linear reduction of voltage Vc.Voltage between terminals Vm shows with following formula table.

[several 7]

Vm＝Vc-R×I ₁

That is, voltage between terminals Vm gets only little R * I than voltage Vc ₁value.Voltage Vc is linear to be reduced, and internal resistance R transitional variation as shown in Figure 12 A, so voltage between terminals Vm also shows transitional variation.That is, moment t ₁, produce and be equivalent to (Ri ₁-Ri ₂) * I ₁the reduction of voltage.Process in time, internal resistance R is towards Ri ₁rise, so the difference of voltage between terminals Vm and voltage Vc expands.If stable state, internal resistance R returns to Ri1, and the difference of voltage between terminals Vm and voltage Vc becomes Ri ₁* I ₁.

Can pass through mathematical formulae 7, according to the measured value of voltage between terminals Vm, electric current I ₁measured value and internal resistance R calculating voltage Vc.Internal resistance R can be according to the parameters R i shown in mathematical formulae 5 ₁, Ri ₂and τ calculates.These parameters are stored in the charge rate computing block 33C shown in Figure 10 B.

Charge rate computing block 33C is according to parameters R i ₁, Ri ₂, τ, voltage between terminals Vm measured value and electric current I ₁measured value calculating voltage Vc.In addition, charge rate computing block 33C calculates charge rate SOC according to the voltage Vc having calculated.

At Figure 12 B, dot in the situation that do not consider that the transient of internal resistance R is assumed to be R=Ri ₁and the outer voltage Vca that is added on electrostatic capacitance C calculating.The difference of voltage between terminals Vm and voltage Vca becomes Ri ₁* I ₁, for constant.Therefore, if adopt Vca as the voltage that is added on electrostatic capacitance C outward, at moment t ₁, produce the discontinuous of voltage.If calculate charge rate SOC according to this voltage Vca, the charge rate SOC calculating is at moment t ₁also become discontinuous.If the discontinuous variation of charge rate SOC, the 1st capacitor output higher limit Pbou0, the 1st capacitor bottoming value Pbol0 and the 1st also discontinuous variation of capacitor export target value Pbot0 that according to it, calculate.Thus, the distribution of power distribution piece 35 is controlled and is become unstable.

Transient by consideration internal resistance R is calculated charge rate SOC, prevents discrete variation of the calculated value of charge rate SOC.Thus, can avoid power distribution to control and become unstable.

If from moment t ₁through the very long time, the difference of the internal resistance Ri1 of internal resistance R and stable state reduces.After both differences are less than a certain reference value, as internal resistance R, can not use the value being calculated by mathematical formulae 5, and use the internal resistance Ri of stable state ₁.

When state to the charging current that the transitionality change of internal resistance R does not flow to capacitor 19 at electric current starts to flow, while switching to charged state from discharge condition, and also occur while switching to discharge condition from charged state.

In Figure 13 A, Figure 13 B and Figure 13 C, represent respectively that the variation of internal resistance R when charging current starts to flow is, the variation of the variation of voltage and electric current.The variation of internal resistance R shown in Figure 13 A is identical with the variation shown in Figure 12 A.Moment t ₁later charging current is steady state value I ₂(I ₂< 0).

As shown in Figure 13 B, be added on linear the increasing of voltage Vc of electrostatic capacitance C outward.This voltage Vc passes through the actual measured value of voltage between terminals Vm, the actual measured value I of charging current ₂and the internal resistance R that has considered transient calculates.In the situation that not considering transient, internal resistance R is assumed to be to Ri all the time ₁and the outer voltage Vca that is added on electrostatic capacitance C calculating, at moment t ₁become discontinuous.

The variation of internal resistance R while representing respectively to switch to charged state from discharge condition in Figure 14 A, Figure 14 B and Figure 14 C is, the variation of the variation of voltage and electric current.The variation of internal resistance R shown in Figure 14 A is identical with the shown variation of Figure 12 A.Moment t ₁discharge current is in the past I ₁, moment t ₁later charging current is I ₂.

At moment t ₁, the sense of current that flows through capacitor 19 is put upside down, so the discontinuous variation of voltage between terminals Vm.If internal resistance R is assumed to be to the internal resistance Ri1 of stable state, calculate the outer voltage Vca that is added on electrostatic capacitance C, voltage Vca is at moment t ₁become discontinuous.By considering the transient of internal resistance R, calculating voltage Vc can prevent the discontinuous variation of voltage Vc.

Embodiment 4

Below, with reference to figure 15A～Figure 15 C, embodiment 4 is described.In embodiment 3, the internal resistance R of capacitor 19 transition change during, utilize value by calculating according to the mathematical formulae of actual change 5 strictly according to the facts as internal resistance R, calculate the outer voltage Vc that is added on electrostatic capacitance C.In embodiment 4, for the internal resistance R of calculating voltage Vc, be assumed to be the minimum value Ri of transitional internal resistance R ₂, for constant.

As shown in Figure 15 C, at moment t ₁, discharge current I ₁start to flow.As shown in Figure 15 A, internal resistance R transition ground changes, but when calculating voltage Vc, being assumed to be internal resistance is steady state value Ri ₂.The outer voltage Vc that is added on electrostatic capacitance C calculating under this hypothesis ₁, and the in fact outer voltage Vc that is added on electrostatic capacitance C by following formula, represented.

[several 8]

Vc ₁＝Vm+Ri ₂×I ₁

Vc＝Vm+R×I ₁

At moment t ₁, R=Ri ₂so, at moment t ₁, Vc ₁=Vc sets up.Therefore, voltage Vc ₁at moment t ₁can discontinuously not change.Therefore, can avoid similarly to Example 3 power distribution to control and become unstable.

In embodiment 4, charge rate computing block 33C is according to mathematical formulae 8, by measured value, the electric current I of voltage between terminals Vm ₁measured value and the minimum Ri of internal resistance ₂calculating results from the voltage Vc of electrostatic capacitance C ₁.The minimum Ri of internal resistance ₂be pre-stored within charge rate computing block 33C.

In embodiment 4, internal resistance R reaches after stable state, also establishes R=Ri ₂and calculating voltage Vc ₁.Therefore, under stable state, for calculating the voltage Vc of charge rate SOC ₁different from the voltage Vc that is added on electrostatic capacitance C in fact outward.But, for calculating the voltage Vc of charge rate SOC ₁can discontinuously not change, therefore can guarantee the stability that power distribution is controlled.

The method of embodiment 4 also can application when electric current flows since 0 state to charging current.

In the method for embodiment 4, when when be transferred to electric current from discharge condition be 0 state and from charged state, to be transferred to electric current be 0 state, voltage Vc ₁result of calculation become discontinuous.But electric current is 0, i.e. the input and output of the energy of capacitor 19 are 0, so power distribution is controlled and can be stablized.

And, from charged state, switch to discharge condition, or while switching to charged state from discharge condition, voltage Vc ₁also discontinuous variation.But, and internal resistance is fixed into Ri ₁and discrete size of the voltage Vca calculating is compared, internal resistance is fixed into Ri ₂and the voltage Vc calculating ₁discrete size less.Therefore, compare with the situation of calculating charge rate SOC according to voltage Vca, the instability that power distribution is controlled reduces.

Embodiment 5

Below, with reference to figure 16A～Figure 16 C, embodiment 5 is described.In embodiment 3, the internal resistance R of capacitor 19 transition change during, utilize strictly according to the facts according to the value of actual change as internal resistance R, calculate the outer voltage Vc that is added on electrostatic capacitance C.In embodiment 5, for the internal resistance R of calculating voltage Vc with change linearly approximate.

As shown in Figure 16 C, at moment t ₁, discharge current I ₁start to flow.The variation and its approximate value Ri that in Figure 16 A, represent internal resistance R ₃.The approximate value Ri of internal resistance ₃with following formula definition.

[several 9]

{Ri}_{3} = \frac{{Ri}_{1} - {Ri}_{2}}{t_{2} - t_{1}} (t - t_{1}) + {Ri}_{2} (t_{1} \leq t \leq t_{2})

Ri ₃＝Ri ₁(t ₂＜t)

Be added on the approximate value Vc of the voltage Vc of electrostatic capacitance C outward ₂with following formula, calculate.

[several 10]

Vc ₂＝Vm+Ri ₃×I ₁

At moment t ₁, Ri ₃=R sets up, so become Vc ₂=Vc.Therefore, Vc ₂at moment t ₁can discontinuously not change.If internal resistance R is stable state, become R=Ri ₁, approximate value Vc ₂become and equate with the voltage Vc that is added on electrostatic capacitance C outward.

And, at moment t ₂, the approximate value Ri of internal resistance ₃inclination become discontinuous, so the approximate value Vc of voltage ₂also discontinuous variation of inclination.But, approximate value Vc ₂size can discontinuously not change.

When the state that it is 0 that the method for embodiment 5 can be applied to from electric current switches to charged state, from discharge condition, to switch to electric current be 0 o'clock, the arbitrary situation while switching to discharge condition from charged state, while switching to charged state from discharge condition.

Embodiment 6

Below, with reference to Figure 17～Figure 20 B, embodiment 6 is described.In embodiment 6, an example of the processing of the power distribution piece 35 shown in Figure 10 B is described.

The relation that represents rotary motor requirement output Per and rotary motor output Peo in Figure 17.When rotary motor requires output Per to be greater than the aggregate value Peomax of engine output higher limit Pgou and the 2nd capacitor output higher limit Pbou1, rotary motor output Peo is equated with this aggregate value Peomax.Be made as follows.

Peo＝Pgou+Pbou

This refers to, rotary motor output Peo is no more than the peak power that can take out from engine 11 and storage circuit 90.

When rotary motor requires output Per to be less than the value Peomin the absolute value that deducts hydraulic load requirement output Phr and the 2nd capacitor bottoming value Pbol1 from engine bottoming value Pgol, rotary motor output Peo is equated with this value Peomin.Be made as follows.

Peo＝Pgol-Phr+Pbomin

Pbomin is negative value, so in above-mentioned formula, the operator that is additional to Pbomin is "+" (plus sige).This formula refers to, the mode that becomes minimum at the power to take out from engine 11 makes the state of engine 11 actions, and the generation power of rotary motor 21 is no more than hydraulic load and requires output Phr and the aggregate value of higher limit that can be supplied to the electric power of storage circuit 90.

When rotary motor requires output Per between Peomax and Peomin, rotary motor output Peo is equated with rotary motor requirement output Per.Be made as follows.

Peo＝Per

This formula refers to, can guarantee output as requested to rotary motor.

In Figure 18, represent that hydraulic load requires the relation of output Phr and hydraulic load output Pho.When hydraulic load requires output Phr to surpass the Phomax the value that deducts rotary motor output Peo from the aggregate value of engine output higher limit Pgou and the 2nd capacitor output higher limit Pbou1, hydraulic load output Pho is equated with this value Phomax.Be made as follows.

Pho＝Pgou+Pbou1-Peo

This refers to, hydraulic load output Pho is no more than the afterpower the power that peak power from being taken out by engine 11 and storage circuit 90 deducts determined rotary motor output Peo amount.

When hydraulic load requires output Phr when Phomax is following, make hydraulic load output Pho and hydraulic load require output Phr to equate.Be made as follows.

Pho＝Phr

This refers to, can guarantee output as requested to hydraulic load.

The relation that represents the 2nd capacitor export target value Pbot1 and capacitor output Pbo in Figure 19 A and Figure 19 B.Rotary motor output Peo from determining according to the chart shown in Figure 17 is made as to Pbomax1 with the value that deducts engine bottoming value Pgol according to the aggregate value of the hydraulic load output Pho of the chart decision shown in Figure 18.The value that aggregate value from rotary motor output Peo and hydraulic load output Pho is deducted to engine output higher limit Pgou is made as Pbomin1.

In Figure 19 A, represent that Pbomax1 is less than the situation that the 2nd capacitor output higher limit Pbou1 and Pbomin1 are greater than the 2nd capacitor bottoming value Pbol1.When the 2nd capacitor export target value Pbot1 surpasses Pbomax1, make capacitor output Pbo equal Pbomax1.This refers to, because the electric power that can take out from storage circuit 90 is very large, institute is so that engine 11 utilizes its bottoming value Pgol action, and from storage circuit 90, do not take out extra electric power.When the 2nd capacitor export target value Pbot1 is during lower than Pbomin1, make capacitor output Pbo equal Pbomax1.This refers to, because the charge rate of storage circuit 90 is insufficient, institute is so that engine 11 utilizes its output higher limit Pgou action, and supplies power to storage circuit 90.

When the 2nd capacitor export target value Pbot1 is between Pbomax1 and Pbomin1, make capacitor output Pbo equal the 2nd capacitor export target value Pbot1.Thus, can make the charge rate of storage circuit 90 approach the desired value of charge rate.

In Figure 19 B, represent that Pbomax1 is greater than the situation that the 2nd capacitor output higher limit Pbou1 and Pbomin1 are less than the 2nd capacitor bottoming value Pbol1.At this moment, with capacitor output Pbo, fall into the upper lower limit value of the mode limiting capacitance device output Pbo of (proper range) between the 2nd capacitor output higher limit Pbou1 and the 2nd capacitor bottoming value Pbol1.

Like this, the upper limit of capacitor output Pbo is limited by the smaller value in Pbou1 and Pbomax1, and lower limit is limited by the higher value in Pbol1 and Pbomin1.

Figure 20 A and Figure 20 B mean the line chart of the determining method of dynamotor output Pao.From Figure 10 A, being known as below formula sets up.

Pbo＝Pao+Peo

If capacitor output Pbo and rotary motor output Peo are determined, can calculate according to above-mentioned formula the output Pao of dynamotor 12.

As shown in FIG. 20 A, when capacitor output Pbo is greater than rotary motor output Peo, make dynamotor 12 utilize dump power to carry out auxiliary movement, and outputting power Pao.As shown in Figure 20 B, when capacitor output Pbo is less than rotary motor output Peo, make dynamotor 12 action of generating electricity for undersupply electric power, and output power Pao.

Embodiment 7

Below, with reference to Figure 21～Figure 23, embodiment 7 is described.In embodiment 7, other examples of the processing of the power distribution piece 35 shown in Figure 10 B are described.The process flow diagram that represents the power distribution method of embodiment 7 in Figure 21, represents the detail flowchart of the processing A shown in Figure 21 in Figure 22, represent the relation of the output after requiring output and distributing in Figure 23.The total of engine output Pgo and capacitor output Pbo represents by exporting aggregate value Psum.

As shown in figure 21, in step S1, require output Phr and rotary motor to require the aggregate value of output Per to be made as hydraulic load and require output Pr.Require output Pr to represent the output required value of the total of power and electric power.

In step S2, export as requested Pr branch.When requiring to export Pr and be less than engine bottoming value Pgol, process A.With reference to Figure 22, to processing A, describe in the back.

When requiring to export Pr more than engine bottoming value Pgol and while being less than engine output higher limit Pgou, execution step S3.In step S3, as shown in figure 23, make engine output Pgo equal requirement output Pr, and capacitor is exported to Pbo be made as 0.That is, all requirement output Pr provide by engine 11.

When requiring to export Pr more than engine output higher limit Pgou and while being less than the aggregate value of engine output higher limit Pgou and the 2nd capacitor output higher limit Pbou1, execution step S4.In step S4, as shown in figure 23, make engine output Pgo equal engine output higher limit Pgou, and capacitor is exported to Pbo be made as from requiring to export Pr and deduct the value engine output Pgo.That is, make engine 11 utilize the action of output higher limit, from capacitor 19, take out the in shortage of power.

When requiring to export Pr when the aggregate value of engine output higher limit Pgou and the 2nd capacitor output higher limit Pbou1 is above, perform step S5.In step S5, as shown in figure 23, make engine output Pgo equal engine output higher limit Pgou, and make capacitor output Pbo equal the 2nd capacitor output higher limit Pbou1.That is, from engine 11 and capacitor 19, take out the power that is equivalent to export higher limit.At this moment, actual total output Psum becomes to be less than and requires output Pr.

In Figure 22, represent to process the process flow diagram of A.In step SS1, as shown in figure 23, make engine output Pgo equal engine bottoming value Pgol, and capacitor is exported to Pbo be made as from requiring to export Pr and deduct the value engine output Pgo.That is, make engine 11 utilize its bottoming value Pgol action, utilize extra power to charge to capacitor 19.

In step SS2, capacitor output Pbo and the 2nd capacitor bottoming value Pbol1 are compared.When capacitor output Pbo is at the 2nd capacitor bottoming value Pbol1 when above, end process A, gets back to the process flow diagram of Figure 21.That is, the charging power of capacitor 19, when its high limit of tolerance value is following, makes engine 11 utilize its bottoming value Pgol action, and is recharged by extra power electric container 19.

When capacitor output Pbo is less than the 2nd capacitor bottoming value Pbol1, execution step SS3.In step SS3, as shown in figure 23, make capacitor output Pbo equal the 2nd capacitor bottoming value Pbol1.That is the charging power that, prevents capacitor 19 is over its high limit of tolerance value.And, engine is exported to Pgo and is made as from requiring to export Pr and deducts the value capacitor output Pbo.Even if utilize its bottoming value Pgol to make engine 11 actions, a part of power that engine 11 produces also cannot be applied flexibly effectively as the charging power of capacitor 19.Therefore, engine 11 is moved below its bottoming value Pgol.

In step SS4, judge that whether engine output Pgo is as negative.When engine output Pgo is for just or 0 time, end process A also gets back to the process flow diagram shown in Figure 21.When engine output Pgo is when negative, in step SS5, engine is exported to Pgo and be set as 0.This is because cannot be made as negative mode and control engine 11 engine is exported to Pgo.Afterwards, get back to the process flow diagram shown in Figure 21.

The processing of power distribution piece 35 is not limited to the method for above-described embodiment 6 and embodiment 7.Also can carry out other various power distributions processes.

According to above embodiment, describe the present invention, but the invention is not restricted to these.For example, can carry out various changes, improvement and combination etc. are self-evident for a person skilled in the art.

Symbol description

1-lower traveling body,

1A, 1B-oil motor,

2-slew gear,

3-top solid of revolution,

4-swing arm,

5-dipper,

6-scraper bowl,

7-swing arm cylinder,

8-dipper cylinder,

9-scraper bowl cylinder,

10-pilothouse,

11-engine,

12-dynamotor,

13-speed reduction unit,

14-main pump,

15-pioneer pump,

16-high-pressure and hydraulic pipeline,

17-operation valve,

18-inverter,

19-capacitor,

21-rotary motor (load motor),

22-resolver,

23-mechanical brake,

24-speed reduction unit,

The first rodding of 25-,

26-operating means,

27,28-fluid pressure line,

29-pressure transducer,

30-control device,

31-running status storage part,

32-engine output area determines piece,

The output of 33-capacitor determines piece,

34-correcting block,

35-power distribution piece,

The deteriorated information decision block of 36-capacitor,

35-display device,

90-storage circuit,

100-converter,

102A-boosts with IGBT,

102B-step-down IGBT,

102a, 102b-diode,

103A, 103B-power connector end,

104A, 104B-lead-out terminal,

105-smoothing capacitor,

106-condenser voltage table,

107-condenser current table,

110-DC bus line,

111-DC bus voltage table.

Claims

1. a hybrid-type working machine, has:

Capacitor;

Dynamotor, as generator and motor action;

Control device, from described condenser voltage table and described condenser current table input measurement result, and controls described converter according to measurement result,

Described control device, deterioration state corresponding to the capacitor obtaining according to the measurement result of described condenser voltage table and described condenser current table, determine as the proper range of the input and output electric power of described capacitor is diminished, according to the proper range that is decided to be the input and output electric power of the described capacitor diminishing, decide the output valve of described dynamotor, and control described dynamotor according to described output valve.

2. a hybrid-type working machine, has:

Capacitor; Dynamotor, as generator and motor action;

Engine, gives mechanical output to described dynamotor;

Hydraulic pump, is endowed mechanical output and produces hydraulic pressure from described engine and described dynamotor;

Described control device, deterioration state corresponding to the capacitor obtaining according to the measurement result of described condenser voltage table and described condenser current table, determine as the proper range of the input and output electric power of described capacitor is diminished the mechanical output that decides described hydraulic pump to produce according to the proper range that is decided to be the input and output electric power of the described capacitor diminishing.

3. hybrid-type working machine as claimed in claim 1 or 2, wherein,

Described control device, according to the measurement result from described condenser voltage table and the input of described condenser current table, calculates the internal resistance of described capacitor, and determines described proper range according to the internal resistance calculating.

4. hybrid-type working machine as claimed in claim 1 or 2, wherein,

Described control device, according to the measurement result from described condenser voltage table and the input of described condenser current table, calculates the electrostatic capacitance of described capacitor, and determines described proper range according to the electrostatic capacitance calculating.

5. hybrid-type working machine as claimed in claim 1 or 2, wherein,

Further have the load motor that can carry out power operation and regeneration operation, described power operation becomes the power converter of emitting from described capacitor mechanical output and exports, and described regeneration operation is transformed into electric power by mechanical output and exports,

Described control device is according to the requirement output of described load motor, the mode that does not depart from described proper range with the input and output electric power of described capacitor determines the mechanical output that described load motor produces, and the mode of the mechanical output being determined with output is controlled described load motor.

6. hybrid-type working machine as claimed in claim 1 or 2, wherein,

Described control device is according to the measurement result from described condenser voltage table and the input of condenser current table, the running status of judging described capacitor is common state or export-restriction state, the mode of the absolute value of the input and output electric power of the described capacitor when absolute value of the input and output electric power of the described capacitor when being judged to be export-restriction state is equal to or less than and is judged to be common state, controls described converter.

7. hybrid-type working machine as claimed in claim 1 or 2, wherein,

Described control device stores the information of transient characteristic of the internal resistance of this capacitor while represent starting to switch on to described capacitor, determines the proper range of the input and output electric power of this capacitor according to described transient characteristic.

8. hybrid-type working machine as claimed in claim 1 or 2, wherein,

The mode of described control device in the input and output electric power with described capacitor falls into the 1st scope controlled under the common state of described converter, or the mode in the input and output electric power with described capacitor falls into the 2nd scope that is narrower than described the 1st scope is controlled under the export-restriction state of described converter and controlled described converter, and switch described common state and described export-restriction state according to described measurement result.